<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from valkyrie_A_sim.xacro           | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="valkyrie" xmlns:xacro="http://ros.org/wiki/xacro">
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  <joint name="lowerNeckPitch" type="revolute">
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  <joint name="neckYaw" type="fixed">
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  <joint name="upperNeckPitch" type="fixed">
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    <axis xyz="0 1 0"/>
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    <dynamics damping="0.1" friction="0.0"/>
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  <gazebo reference="upperNeckPitch">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
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      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/thumbj4_right.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="rightThumbRoll" type="fixed">
    <origin rpy="0.3491 0.0 0.0" xyz="0.0049 -0.0351 0.0228"/>
    <axis xyz="0 0 1"/>
    <parent link="rightPalm"/>
    <child link="rightThumbRollLink"/>
  </joint>
  <gazebo reference="rightThumbRoll">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="rightThumbPitch1" type="fixed">
    <origin rpy="-0.3491 0.0 0.0" xyz="0.0 0.0 0.0229"/>
    <axis xyz="0 0 1"/>
    <parent link="rightThumbRollLink"/>
    <child link="rightThumbPitch1Link"/>
  </joint>
  <gazebo reference="rightThumbPitch1">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="rightThumbPitch2" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0066 0.0375"/>
    <axis xyz="0 0 1"/>
    <parent link="rightThumbPitch1Link"/>
    <child link="rightThumbPitch2Link"/>
  </joint>
  <gazebo reference="rightThumbPitch2">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="rightThumbPitch3" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0049 0.0275"/>
    <axis xyz="0 0 1"/>
    <parent link="rightThumbPitch2Link"/>
    <child link="rightThumbPitch3Link"/>
  </joint>
  <gazebo reference="rightThumbPitch3">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="rightIndexFingerPitch1Link">
    <inertial>
      <mass value="0.02"/>
      <origin rpy="0 0 0" xyz="0 -0.02 0"/>
      <inertia ixx="4.232e-06" ixy="-6e-08" ixz="-8e-09" iyy="1.215e-06" iyz="-7e-09" izz="3.892e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/indexj1_right.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/indexj1_right.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="rightIndexFingerPitch2Link">
    <inertial>
      <mass value="0.018"/>
      <origin rpy="0 0 0" xyz="0 -0.013 0"/>
      <inertia ixx="1.562e-06" ixy="-1.7e-08" ixz="-1.3e-08" iyy="7.22e-07" iyz="3.1e-08" izz="1.255e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/indexj2_right.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/indexj2_right.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="rightIndexFingerPitch3Link">
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0 0 0" xyz="0 -0.01 0"/>
      <inertia ixx="6.02e-07" ixy="-2.4e-08" ixz="0.0" iyy="2.09e-07" iyz="1.7e-08" izz="5.02e-07"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/indexj3_right.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/indexj3_right.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="rightIndexFingerPitch1" type="fixed">
    <origin rpy="-0.1745 0.0 0.0" xyz="0.0022 -0.0976 0.0235"/>
    <axis xyz="0 0 1"/>
    <parent link="rightPalm"/>
    <child link="rightIndexFingerPitch1Link"/>
  </joint>
  <gazebo reference="rightIndexFingerPitch1">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="rightIndexFingerPitch2" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0381 0.0"/>
    <axis xyz="0 0 1"/>
    <parent link="rightIndexFingerPitch1Link"/>
    <child link="rightIndexFingerPitch2Link"/>
  </joint>
  <gazebo reference="rightIndexFingerPitch2">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="rightIndexFingerPitch3" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0229 0"/>
    <axis xyz="0 0 1"/>
    <parent link="rightIndexFingerPitch2Link"/>
    <child link="rightIndexFingerPitch3Link"/>
  </joint>
  <gazebo reference="rightIndexFingerPitch3">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="rightMiddleFingerPitch1Link">
    <inertial>
      <mass value="0.02"/>
      <origin rpy="0 0 0" xyz="0 -0.02 0"/>
      <inertia ixx="5.148e-06" ixy="-4.2e-08" ixz="-1.1e-08" iyy="1.322e-06" iyz="-4e-09" izz="4.592e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/middlej1_right.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/middlej1_right.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="rightMiddleFingerPitch2Link">
    <inertial>
      <mass value="0.011"/>
      <origin rpy="0 0 0" xyz="0 -0.013 0"/>
      <inertia ixx="1.97e-06" ixy="3.4e-08" ixz="-1.1e-08" iyy="5.54e-07" iyz="-7.8e-08" izz="2.272e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/middlej2_right.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/middlej2_right.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="rightMiddleFingerPitch3Link">
    <inertial>
      <mass value="0.006"/>
      <origin rpy="0 0 0" xyz="0 -0.01 0"/>
      <inertia ixx="3.96e-07" ixy="-9e-09" ixz="-1e-09" iyy="1.6e-07" iyz="1.6e-08" izz="3.03e-07"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/middlej3_right.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/middlej3_right.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="rightMiddleFingerPitch1" type="fixed">
    <origin rpy="0.1222 0.0 0.0" xyz="0.0022 -0.097 -0.0119"/>
    <axis xyz="0 0 1"/>
    <parent link="rightPalm"/>
    <child link="rightMiddleFingerPitch1Link"/>
  </joint>
  <gazebo reference="rightMiddleFingerPitch1">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="rightMiddleFingerPitch2" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0381 0.0"/>
    <axis xyz="0 0 1"/>
    <parent link="rightMiddleFingerPitch1Link"/>
    <child link="rightMiddleFingerPitch2Link"/>
  </joint>
  <gazebo reference="rightMiddleFingerPitch2">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="rightMiddleFingerPitch3" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0229 0.0"/>
    <axis xyz="0 0 1"/>
    <parent link="rightMiddleFingerPitch2Link"/>
    <child link="rightMiddleFingerPitch3Link"/>
  </joint>
  <gazebo reference="rightMiddleFingerPitch3">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="rightPinkyPitch1Link">
    <inertial>
      <mass value="0.02"/>
      <origin rpy="0 0 0" xyz="0 -0.02 0"/>
      <inertia ixx="5.148e-06" ixy="-4.2e-08" ixz="-1.1e-08" iyy="1.322e-06" iyz="-4e-09" izz="4.592e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/pinkyj1_right.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/pinkyj1_right.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="rightPinkyPitch2Link">
    <inertial>
      <mass value="0.011"/>
      <origin rpy="0 0 0" xyz="0 -0.013 0"/>
      <inertia ixx="1.97e-06" ixy="3.4e-08" ixz="-1.1e-08" iyy="5.54e-07" iyz="-7.8e-08" izz="2.272e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/pinkyj2_right.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/pinkyj2_right.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="rightPinkyPitch3Link">
    <inertial>
      <mass value="0.006"/>
      <origin rpy="0 0 0" xyz="0 -0.01 0"/>
      <inertia ixx="3.96e-07" ixy="-9e-09" ixz="-1e-09" iyy="1.6e-07" iyz="1.6e-08" izz="3.03e-07"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/pinkyj3_right.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/pinkyj3_right.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="rightPinkyPitch1" type="fixed">
    <origin rpy="0.1222 0.0 0.0" xyz="0.0022 -0.0838 -0.041"/>
    <axis xyz="0 0 1"/>
    <parent link="rightPalm"/>
    <child link="rightPinkyPitch1Link"/>
  </joint>
  <gazebo reference="rightPinkyPitch1">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="rightPinkyPitch2" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0381 0.0"/>
    <axis xyz="0 0 1"/>
    <parent link="rightPinkyPitch1Link"/>
    <child link="rightPinkyPitch2Link"/>
  </joint>
  <gazebo reference="rightPinkyPitch2">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="rightPinkyPitch3" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0229 0.0"/>
    <axis xyz="0 0 1"/>
    <parent link="rightPinkyPitch2Link"/>
    <child link="rightPinkyPitch3Link"/>
  </joint>
  <gazebo reference="rightPinkyPitch3">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="leftShoulderPitchLink">
    <inertial>
      <mass value="2.65"/>
      <origin rpy="0 0 0" xyz="-0.012000 0.251 0.000000"/>
      <inertia ixx="0.013718167" ixy="0.0" ixz="0.0" iyy="0.010502833" iyz="0.0" izz="0.014806433"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/arms/aj1_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/arms/aj1_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftShoulderRollLink">
    <inertial>
      <mass value="3.97"/>
      <origin rpy="0 0 0" xyz="-0.008513 0.02068 0.001088"/>
      <inertia ixx="0.009494119" ixy="6.7294e-05" ixz="-3.7177e-05" iyy="0.007680534" iyz="8.874e-06" izz="0.011454772"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/arms/aj2_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/arms/aj2_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftShoulderYawLink">
    <inertial>
      <mass value="3.085"/>
      <origin rpy="0 0 0" xyz="-0.004304 0.209832 -0.007295"/>
      <inertia ixx="0.039355177" ixy="0.007827077" ixz="-0.000753947" iyy="0.004905765" iyz="-0.002723873" izz="0.041879481"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/arms/aj3_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/arms/aj3_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftElbowPitchLink">
    <inertial>
      <mass value="1.83"/>
      <origin rpy="0 0 0" xyz="-0.020344 0.014722 -0.022300"/>
      <inertia ixx="0.004285137" ixy="-0.000408334" ixz="0.003326627" iyy="0.008440601" iyz="0.000140731" izz="0.007469454"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/arms/aj4_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/arms/aj4_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="leftShoulderPitch" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="-0.0316 0.0 0.2984"/>
    <axis xyz="0 1 0"/>
    <parent link="torso"/>
    <child link="leftShoulderPitchLink"/>
    <limit effort="190" lower="-2.85" upper="2.0" velocity="5.89"/>
    <controller_gains Kd="400" Kp="20000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="leftShoulderPitch">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftShoulderRoll" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.2499 0.0"/>
    <axis xyz="1 0 0"/>
    <parent link="leftShoulderPitchLink"/>
    <child link="leftShoulderRollLink"/>
    <limit effort="190" lower="-1.519" upper="1.266" velocity="5.89"/>
    <controller_gains Kd="400" Kp="20000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="leftShoulderRoll">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftShoulderYaw" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0 1 0"/>
    <parent link="leftShoulderRollLink"/>
    <child link="leftShoulderYawLink"/>
    <limit effort="65" lower="-3.1" upper="2.18" velocity="11.5"/>
    <controller_gains Kd="400" Kp="20000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="leftShoulderYaw">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftElbowPitch" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0254 0.33 0.0"/>
    <axis xyz="0 0 1"/>
    <parent link="leftShoulderYawLink"/>
    <child link="leftElbowPitchLink"/>
    <limit effort="65" lower="-2.174" upper="0.12" velocity="11.5"/>
    <controller_gains Kd="400" Kp="20000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="leftElbowPitch">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="leftForearmLink">
    <inertial>
      <mass value="2.476"/>
      <origin rpy="0 0 0" xyz="0.015000 0.13 0.019564"/>
      <inertia ixx="0.015011" ixy="0.001300853" ixz="0.000727141" iyy="0.005071567" iyz="-0.001695416" izz="0.011365657"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/arms/aj5_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/arms/aj5_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftWristRollLink">
    <inertial>
      <mass value="0.14"/>
      <origin rpy="0 0 0" xyz="0 0.0 0"/>
      <inertia ixx="3.0251e-05" ixy="1.25e-07" ixz="3.6e-08" iyy="3.772e-05" iyz="0.0" izz="9.395e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/arms/aj6_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/arms/aj6_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftPalm">
    <inertial>
      <mass value="0.712"/>
      <origin rpy="0 0 0" xyz="0.002954 0.052034 -0.000236"/>
      <inertia ixx="0.000943493" ixy="3.4393e-05" ixz="3.8828e-05" iyy="0.000711024" iyz="-2.3429e-05" izz="0.000610199"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/arms/palm_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/arms/palm_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="leftForearmYaw" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="-0.0254 0 0"/>
    <axis xyz="0 1 0"/>
    <parent link="leftElbowPitchLink"/>
    <child link="leftForearmLink"/>
    <limit effort="26" lower="-2.019" upper="3.14" velocity="5"/>
    <controller_gains Kd="0" Kp="20000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="leftForearmYaw">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftWristRoll" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.2871 0.0"/>
    <axis xyz="1 0 0"/>
    <parent link="leftForearmLink"/>
    <child link="leftWristRollLink"/>
    <limit effort="14" lower="-0.62" upper="0.625" velocity="1"/>
    <controller_gains Kd="400" Kp="20000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="leftWristRoll">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftWristPitch" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0 0 1"/>
    <parent link="leftWristRollLink"/>
    <child link="leftPalm"/>
    <limit effort="14" lower="-0.36" upper="0.49" velocity="1"/>
    <controller_gains Kd="400" Kp="20000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="leftWristPitch">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="leftThumbRollLink">
    <inertial>
      <mass value="0.017"/>
      <origin rpy="0 0 0" xyz="0 0.0 0.01"/>
      <inertia ixx="2.7778767e-06" ixy="5.6718533e-09" ixz="9.5523207e-08" iyy="3.5462642e-06" iyz="-3.663718e-08" izz="1.3553297e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/thumbj1_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/thumbj1_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftThumbPitch1Link">
    <inertial>
      <mass value="0.02"/>
      <origin rpy="0 0 0" xyz="0.0 0.005 0.02"/>
      <inertia ixx="4.239e-06" ixy="0.0" ixz="0.0" iyy="4.582e-06" iyz="-0.0" izz="1.47e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/thumbj2_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/thumbj2_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftThumbPitch2Link">
    <inertial>
      <mass value="0.013"/>
      <origin rpy="0 0 0" xyz="0 0.004 0.017"/>
      <inertia ixx="1.266e-06" ixy="0.0" ixz="0.0" iyy="1.503e-06" iyz="0.0" izz="6.99e-07"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/thumbj3_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/thumbj3_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftThumbPitch3Link">
    <inertial>
      <mass value="0.006"/>
      <origin rpy="0 0 0" xyz="0 0.004 0.01"/>
      <inertia ixx="3.22e-07" ixy="0.0" ixz="0.0" iyy="4.06e-07" iyz="0.0" izz="2.1e-07"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/thumbj4_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/thumbj4_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="leftThumbRoll" type="fixed">
    <origin rpy="-0.3491 0.0 0.0" xyz="0.0049 0.0351 0.0228"/>
    <axis xyz="0 0 1"/>
    <parent link="leftPalm"/>
    <child link="leftThumbRollLink"/>
  </joint>
  <gazebo reference="leftThumbRoll">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftThumbPitch1" type="fixed">
    <origin rpy="0.3491 0.0 0.0" xyz="0.0 0.0 0.0229"/>
    <axis xyz="0 0 1"/>
    <parent link="leftThumbRollLink"/>
    <child link="leftThumbPitch1Link"/>
  </joint>
  <gazebo reference="leftThumbPitch1">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftThumbPitch2" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0066 0.0375"/>
    <axis xyz="0 0 1"/>
    <parent link="leftThumbPitch1Link"/>
    <child link="leftThumbPitch2Link"/>
  </joint>
  <gazebo reference="leftThumbPitch2">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftThumbPitch3" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0049 0.0275"/>
    <axis xyz="0 0 1"/>
    <parent link="leftThumbPitch2Link"/>
    <child link="leftThumbPitch3Link"/>
  </joint>
  <gazebo reference="leftThumbPitch3">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="leftIndexFingerPitch1Link">
    <inertial>
      <mass value="0.02"/>
      <origin rpy="0 0 0" xyz="0 0.02 0"/>
      <inertia ixx="4.232e-06" ixy="6e-08" ixz="8e-09" iyy="1.215e-06" iyz="-7e-09" izz="3.892e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/indexj1_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/indexj1_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftIndexFingerPitch2Link">
    <inertial>
      <mass value="0.018"/>
      <origin rpy="0 0 0" xyz="0 0.013 0"/>
      <inertia ixx="1.562e-06" ixy="1.7e-08" ixz="1.3e-08" iyy="7.22e-07" iyz="3.1e-08" izz="1.255e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/indexj2_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/indexj2_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftIndexFingerPitch3Link">
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0 0 0" xyz="0 0.01 0"/>
      <inertia ixx="6.02e-07" ixy="2.4e-08" ixz="-0.0" iyy="2.09e-07" iyz="1.7e-08" izz="5.02e-07"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/indexj3_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/indexj3_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="leftIndexFingerPitch1" type="fixed">
    <origin rpy="0.1745 0.0 0.0" xyz="0.0022 0.0976 0.0235"/>
    <axis xyz="0 0 1"/>
    <parent link="leftPalm"/>
    <child link="leftIndexFingerPitch1Link"/>
  </joint>
  <gazebo reference="leftIndexFingerPitch1">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftIndexFingerPitch2" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0381 0.0"/>
    <axis xyz="0 0 1"/>
    <parent link="leftIndexFingerPitch1Link"/>
    <child link="leftIndexFingerPitch2Link"/>
  </joint>
  <gazebo reference="leftIndexFingerPitch2">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftIndexFingerPitch3" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0229 0"/>
    <axis xyz="0 0 1"/>
    <parent link="leftIndexFingerPitch2Link"/>
    <child link="leftIndexFingerPitch3Link"/>
  </joint>
  <gazebo reference="leftIndexFingerPitch3">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="leftMiddleFingerPitch1Link">
    <inertial>
      <mass value="0.02"/>
      <origin rpy="0 0 0" xyz="0 0.02 0"/>
      <inertia ixx="5.148e-06" ixy="4.2e-08" ixz="1.1e-08" iyy="1.322e-06" iyz="-4e-09" izz="4.592e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/middlej1_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/middlej1_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftMiddleFingerPitch2Link">
    <inertial>
      <mass value="0.011"/>
      <origin rpy="0 0 0" xyz="0 0.013 0"/>
      <inertia ixx="1.97e-06" ixy="-3.4e-08" ixz="1.1e-08" iyy="5.54e-07" iyz="-7.8e-08" izz="2.272e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/middlej2_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/middlej2_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftMiddleFingerPitch3Link">
    <inertial>
      <mass value="0.006"/>
      <origin rpy="0 0 0" xyz="0 0.01 0"/>
      <inertia ixx="3.96e-07" ixy="9e-09" ixz="1e-09" iyy="1.6e-07" iyz="1.6e-08" izz="3.03e-07"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/middlej3_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/middlej3_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="leftMiddleFingerPitch1" type="fixed">
    <origin rpy="-0.1222 0.0 0.0" xyz="0.0022 0.097 -0.0119"/>
    <axis xyz="0 0 1"/>
    <parent link="leftPalm"/>
    <child link="leftMiddleFingerPitch1Link"/>
  </joint>
  <gazebo reference="leftMiddleFingerPitch1">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftMiddleFingerPitch2" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0381 0.0"/>
    <axis xyz="0 0 1"/>
    <parent link="leftMiddleFingerPitch1Link"/>
    <child link="leftMiddleFingerPitch2Link"/>
  </joint>
  <gazebo reference="leftMiddleFingerPitch2">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftMiddleFingerPitch3" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0229 0.0"/>
    <axis xyz="0 0 1"/>
    <parent link="leftMiddleFingerPitch2Link"/>
    <child link="leftMiddleFingerPitch3Link"/>
  </joint>
  <gazebo reference="leftMiddleFingerPitch3">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="leftPinkyPitch1Link">
    <inertial>
      <mass value="0.02"/>
      <origin rpy="0 0 0" xyz="0 0.02 0"/>
      <inertia ixx="5.148e-06" ixy="4.2e-08" ixz="1.1e-08" iyy="1.322e-06" iyz="-4e-09" izz="4.592e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/pinkyj1_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/pinkyj1_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftPinkyPitch2Link">
    <inertial>
      <mass value="0.011"/>
      <origin rpy="0 0 0" xyz="0 0.013 0"/>
      <inertia ixx="1.97e-06" ixy="-3.4e-08" ixz="1.1e-08" iyy="5.54e-07" iyz="-7.8e-08" izz="2.272e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/pinkyj2_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/pinkyj2_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftPinkyPitch3Link">
    <inertial>
      <mass value="0.006"/>
      <origin rpy="0 0 0" xyz="0 0.01 0"/>
      <inertia ixx="3.96e-07" ixy="9e-09" ixz="1e-09" iyy="1.6e-07" iyz="1.6e-08" izz="3.03e-07"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/pinkyj3_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/fingers/pinkyj3_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="leftPinkyPitch1" type="fixed">
    <origin rpy="-0.1222 0.0 0.0" xyz="0.0022 0.0838 -0.041"/>
    <axis xyz="0 0 1"/>
    <parent link="leftPalm"/>
    <child link="leftPinkyPitch1Link"/>
  </joint>
  <gazebo reference="leftPinkyPitch1">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftPinkyPitch2" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0381 0.0"/>
    <axis xyz="0 0 1"/>
    <parent link="leftPinkyPitch1Link"/>
    <child link="leftPinkyPitch2Link"/>
  </joint>
  <gazebo reference="leftPinkyPitch2">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftPinkyPitch3" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0229 0.0"/>
    <axis xyz="0 0 1"/>
    <parent link="leftPinkyPitch2Link"/>
    <child link="leftPinkyPitch3Link"/>
  </joint>
  <gazebo reference="leftPinkyPitch3">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="rightHipYawLink">
    <inertial>
      <mass value="2.39"/>
      <origin rpy="0 0 0" xyz="0.02176 0.00131 0.03867"/>
      <inertia ixx="0.017260978" ixy="0.0" ixz="0.0" iyy="0.014866198" iyz="0.0" izz="0.011238178"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj1_right.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj1_right.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="rightHipRollLink">
    <inertial>
      <mass value="3.665"/>
      <origin rpy="0 0 0" xyz="0.012959 -0.00755 -0.015950"/>
      <inertia ixx="0.005978962" ixy="0.000234823" ixz="0.000553962" iyy="0.009372646" iyz="-0.000778956" izz="0.008193117"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj2_right.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj2_right.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="rightHipPitchLink">
    <inertial>
      <mass value="10.2"/>
      <origin rpy="0 0 0" xyz="0.016691 -0.091397 -0.207875"/>
      <inertia ixx="0.24083413" ixy="-3.5915e-05" ixz="0.003699383" iyy="0.25689705" iyz="0.001333005" izz="0.023276352"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj3_right.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj3_right.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="rightKneePitchLink">
    <inertial>
      <mass value="6.6"/>
      <origin rpy="0 0 0" xyz="0.002425 -0.001543 -0.189511"/>
      <inertia ixx="0.096117529" ixy="0.000107885" ixz="0.006319047" iyy="0.097118447" iyz="-0.000494739" izz="0.013722874"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj4_right.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj4_right.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="rightAnklePitchLink">
    <inertial>
      <mass value="0.06"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="1.1226e-05" ixy="0.0" ixz="2.735e-06" iyy="2.67e-05" iyz="0.0" izz="1.8792e-05"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj5.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj5.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="rightFoot">
    <inertial>
      <mass value="3.255"/>
      <origin rpy="0 0 0" xyz="0.037702 0.005161 -0.047634"/>
      <inertia ixx="0.008966273" ixy="-8.6029e-05" ixz="0.003944774" iyy="0.023943858" iyz="0.000105218" izz="0.028128777"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/foot.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.27 0.16 0.064"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.066 0.0 -0.056"/>
    </collision>
    <collision group="midfoot_rear">
      <origin rpy="0 0 0" xyz="0.032 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="midfoot_rear">
      <origin rpy="0 0 0" xyz="0.032 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
    <collision group="midfoot_rear">
      <origin rpy="0 0 0" xyz="0.032 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="midfoot_rear">
      <origin rpy="0 0 0" xyz="0.032 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
    <collision group="midfoot_front">
      <origin rpy="0 0 0" xyz="0.102 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="midfoot_front">
      <origin rpy="0 0 0" xyz="0.102 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
    <collision group="midfoot_front">
      <origin rpy="0 0 0" xyz="0.102 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="midfoot_front">
      <origin rpy="0 0 0" xyz="0.102 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
    <collision group="heel">
      <origin rpy="0 0 0" xyz="-0.038 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="heel">
      <origin rpy="0 0 0" xyz="-0.038 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
    <collision group="heel">
      <origin rpy="0 0 0" xyz="-0.038 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="heel">
      <origin rpy="0 0 0" xyz="-0.038 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
    <collision group="toe">
      <origin rpy="0 0 0" xyz="0.172 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="toe">
      <origin rpy="0 0 0" xyz="0.172 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
    <collision group="toe">
      <origin rpy="0 0 0" xyz="0.172 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="toe">
      <origin rpy="0 0 0" xyz="0.172 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
  </link>
  <joint name="rightHipYaw" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1016 -0.1853"/>
    <axis xyz="0 0 1"/>
    <parent link="pelvis"/>
    <child link="rightHipYawLink"/>
    <limit effort="190" lower="-1.1" upper="0.4141" velocity="5.89"/>
    <controller_gains Kd="500" Kp="15000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="rightHipYaw">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="rightHipRoll" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1 0 0"/>
    <parent link="rightHipYawLink"/>
    <child link="rightHipRollLink"/>
    <limit effort="350" lower="-0.5515" upper="0.467" velocity="7"/>
    <controller_gains Kd="500" Kp="15000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="rightHipRoll">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="rightHipPitch" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.0609"/>
    <axis xyz="0 1 0"/>
    <parent link="rightHipRollLink"/>
    <child link="rightHipPitchLink"/>
    <limit effort="350" lower="-2.42" upper="1.619" velocity="6.11"/>
    <controller_gains Kd="500" Kp="15000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="rightHipPitch">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="rightKneePitch" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.000112225 -0.0361046 -0.430959"/>
    <axis xyz="0 1 0"/>
    <parent link="rightHipPitchLink"/>
    <child link="rightKneePitchLink"/>
    <limit effort="350" lower="-0.083" upper="2.057" velocity="6.11"/>
    <controller_gains Kd="500" Kp="15000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="rightKneePitch">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="rightAnklePitch" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="-0.0102381 0.0 -0.40627"/>
    <axis xyz="0 1 0"/>
    <parent link="rightKneePitchLink"/>
    <child link="rightAnklePitchLink"/>
    <limit effort="205" lower="-1.8644" upper="1.875" velocity="11"/>
    <controller_gains Kd="400" Kp="15000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="rightAnklePitch">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="rightAnkleRoll" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1 0 0"/>
    <parent link="rightAnklePitchLink"/>
    <child link="rightFoot"/>
    <limit effort="205" lower="-1.349" upper="1.348" velocity="11"/>
    <controller_gains Kd="400" Kp="15000"/>
    <dynamics damping="0.3" friction="0.0"/>
  </joint>
  <gazebo reference="rightAnkleRoll">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="leftHipYawLink">
    <inertial>
      <mass value="2.39"/>
      <origin rpy="0 0 0" xyz="0.02176 -0.00131 0.03867"/>
      <inertia ixx="0.017260978" ixy="0.0" ixz="0.0" iyy="0.014866198" iyz="0.0" izz="0.011238178"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj1_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj1_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftHipRollLink">
    <inertial>
      <mass value="3.665"/>
      <origin rpy="0 0 0" xyz="0.012959 0.00755 -0.015950"/>
      <inertia ixx="0.005978962" ixy="-0.000234823" ixz="0.000553962" iyy="0.009372646" iyz="0.000778956" izz="0.008193117"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj2_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj2_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftHipPitchLink">
    <inertial>
      <mass value="10.2"/>
      <origin rpy="0 0 0" xyz="0.016691 0.091397 -0.207875"/>
      <inertia ixx="0.24083413" ixy="3.5915e-05" ixz="0.003699383" iyy="0.25689705" iyz="-0.001333005" izz="0.023276352"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj3_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj3_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftKneePitchLink">
    <inertial>
      <mass value="6.6"/>
      <origin rpy="0 0 0" xyz="0.002425 -0.001543 -0.189511"/>
      <inertia ixx="0.096117529" ixy="0.000107885" ixz="0.006319047" iyy="0.097118447" iyz="-0.000494739" izz="0.013722874"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj4_left.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj4_left.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftAnklePitchLink">
    <inertial>
      <mass value="0.06"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="1.1226e-05" ixy="0.0" ixz="2.735e-06" iyy="2.67e-05" iyz="0.0" izz="1.8792e-05"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj5.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/lj5.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="leftFoot">
    <inertial>
      <mass value="3.255"/>
      <origin rpy="0 0 0" xyz="0.037702 0.005161 -0.047634"/>
      <inertia ixx="0.008966273" ixy="-8.6029e-05" ixz="0.003944774" iyy="0.023943858" iyz="0.000105218" izz="0.028128777"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/legs/foot.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.27 0.16 0.064"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.066 0.0 -0.056"/>
    </collision>
    <collision group="midfoot_rear">
      <origin rpy="0 0 0" xyz="0.032 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="midfoot_rear">
      <origin rpy="0 0 0" xyz="0.032 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
    <collision group="midfoot_rear">
      <origin rpy="0 0 0" xyz="0.032 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="midfoot_rear">
      <origin rpy="0 0 0" xyz="0.032 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
    <collision group="midfoot_front">
      <origin rpy="0 0 0" xyz="0.102 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="midfoot_front">
      <origin rpy="0 0 0" xyz="0.102 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
    <collision group="midfoot_front">
      <origin rpy="0 0 0" xyz="0.102 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="midfoot_front">
      <origin rpy="0 0 0" xyz="0.102 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
    <collision group="heel">
      <origin rpy="0 0 0" xyz="-0.038 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="heel">
      <origin rpy="0 0 0" xyz="-0.038 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
    <collision group="heel">
      <origin rpy="0 0 0" xyz="-0.038 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="heel">
      <origin rpy="0 0 0" xyz="-0.038 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
    <collision group="toe">
      <origin rpy="0 0 0" xyz="0.172 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="toe">
      <origin rpy="0 0 0" xyz="0.172 0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
    <collision group="toe">
      <origin rpy="0 0 0" xyz="0.172 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
    </collision>
    <visual group="toe">
      <origin rpy="0 0 0" xyz="0.172 -0.055 -0.09"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </visual>
  </link>
  <joint name="leftHipYaw" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.1016 -0.1853"/>
    <axis xyz="0 0 1"/>
    <parent link="pelvis"/>
    <child link="leftHipYawLink"/>
    <limit effort="190" lower="-0.4141" upper="1.1" velocity="5.89"/>
    <controller_gains Kd="500" Kp="15000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="leftHipYaw">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftHipRoll" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1 0 0"/>
    <parent link="leftHipYawLink"/>
    <child link="leftHipRollLink"/>
    <limit effort="350" lower="-0.467" upper="0.5515" velocity="7"/>
    <controller_gains Kd="500" Kp="15000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="leftHipRoll">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftHipPitch" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.0609"/>
    <axis xyz="0 1 0"/>
    <parent link="leftHipRollLink"/>
    <child link="leftHipPitchLink"/>
    <limit effort="350" lower="-2.42" upper="1.619" velocity="6.11"/>
    <controller_gains Kd="500" Kp="15000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="leftHipPitch">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftKneePitch" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.000112225 0.0361046 -0.430959"/>
    <axis xyz="0 1 0"/>
    <parent link="leftHipPitchLink"/>
    <child link="leftKneePitchLink"/>
    <limit effort="350" lower="-0.083" upper="2.057" velocity="6.11"/>
    <controller_gains Kd="500" Kp="15000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="leftKneePitch">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftAnklePitch" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="-0.0102381 0.0 -0.40627"/>
    <axis xyz="0 1 0"/>
    <parent link="leftKneePitchLink"/>
    <child link="leftAnklePitchLink"/>
    <limit effort="205" lower="-1.8644" upper="1.875" velocity="11"/>
    <controller_gains Kd="400" Kp="15000"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <gazebo reference="leftAnklePitch">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="leftAnkleRoll" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1 0 0"/>
    <parent link="leftAnklePitchLink"/>
    <child link="leftFoot"/>
    <limit effort="205" lower="-1.349" upper="1.348" velocity="11"/>
    <controller_gains Kd="400" Kp="15000"/>
    <dynamics damping="0.3" friction="0.0"/>
  </joint>
  <gazebo reference="leftAnkleRoll">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="rightPelvisIMU_Frame">
    <!-- Virtual Link -->
    <inertial>
      <mass value="1e-07"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22"/>
    </inertial>
  </link>
  <joint name="rightPelvisIMU_Offset" type="fixed">
    <origin rpy="-1.57 0.0 1.274" xyz="0.0515 -0.115 -0.042"/>
    <axis xyz="0 0 1"/>
    <parent link="pelvis"/>
    <child link="rightPelvisIMU_Frame"/>
  </joint>
  <gazebo reference="rightPelvisIMU_Offset">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="rightPelvisIMU_Frame">
    <sensor name="rightPelvisIMU" type="imu">
      <always_on>true</always_on>
      <pose>0.0515 -0.115 -0.042 -1.57 0.0 1.274 </pose>
      <imu>
        <noise>
          <type>gaussian</type>
          <rate>
            <mean>0</mean>
            <stddev>0.0002</stddev>
            <bias_mean>7.5e-06</bias_mean>
            <bias_stddev>8e-07</bias_stddev>
          </rate>
          <accel>
            <mean>0</mean>
            <stddev>0.017</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </accel>
        </noise>
      </imu>
    </sensor>
  </gazebo>
  <link name="leftPelvisIMU_Frame">
    <!-- Virtual Link -->
    <inertial>
      <mass value="1e-07"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22"/>
    </inertial>
  </link>
  <joint name="leftPelvisIMU_Offset" type="fixed">
    <origin rpy="1.57 0 -1.274" xyz="0.0515 0.115 -0.042"/>
    <axis xyz="0 0 1"/>
    <parent link="pelvis"/>
    <child link="leftPelvisIMU_Frame"/>
  </joint>
  <gazebo reference="leftPelvisIMU_Offset">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="leftPelvisIMU_Frame">
    <sensor name="leftPelvisIMU" type="imu">
      <always_on>true</always_on>
      <pose>0.0515 0.115 -0.042 1.57 0 -1.274 </pose>
      <imu>
        <noise>
          <type>gaussian</type>
          <rate>
            <mean>0</mean>
            <stddev>0.0002</stddev>
            <bias_mean>7.5e-06</bias_mean>
            <bias_stddev>8e-07</bias_stddev>
          </rate>
          <accel>
            <mean>0</mean>
            <stddev>0.017</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </accel>
        </noise>
      </imu>
    </sensor>
  </gazebo>
  <link name="leftCOP_Frame">
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="8.33333333333e-05" ixy="0.0" ixz="0.0" iyy="8.33333333333e-05" iyz="0.0" izz="0.000125"/>
    </inertial>
  </link>
  <joint name="leftCOP_Offset" type="fixed">
    <origin rpy="0.0 0.13 0.0" xyz="0.0189 0.0 -0.0783"/>
    <axis xyz="0 0 1"/>
    <parent link="leftFoot"/>
    <child link="leftCOP_Frame"/>
  </joint>
  <gazebo reference="leftCOP_Offset">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="leftLegSixAxis_Frame">
    <!-- Virtual Link -->
    <inertial>
      <mass value="1e-07"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22"/>
    </inertial>
  </link>
  <joint name="leftLegSixAxis_Offset" type="fixed">
    <origin rpy="3.14 0.0 -1.047" xyz="0.0215646 0.0 -0.051054"/>
    <axis xyz="0 0 1"/>
    <parent link="leftFoot"/>
    <child link="leftLegSixAxis_Frame"/>
  </joint>
  <gazebo reference="leftLegSixAxis_Offset">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="leftLegSixAxis_Offset">
    <sensor name="leftLegSixAxis" type="force_torque">
    </sensor>
  </gazebo>
  <link name="rightCOP_Frame">
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="8.33333333333e-05" ixy="0.0" ixz="0.0" iyy="8.33333333333e-05" iyz="0.0" izz="0.000125"/>
    </inertial>
  </link>
  <joint name="rightCOP_Offset" type="fixed">
    <origin rpy="0.0 0.13 0.0" xyz="0.0189 0.0 -0.0783"/>
    <axis xyz="0 0 1"/>
    <parent link="rightFoot"/>
    <child link="rightCOP_Frame"/>
  </joint>
  <gazebo reference="rightCOP_Offset">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="rightLegSixAxis_Frame">
    <!-- Virtual Link -->
    <inertial>
      <mass value="1e-07"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22"/>
    </inertial>
  </link>
  <joint name="rightLegSixAxis_Offset" type="fixed">
    <origin rpy="3.14 0.0 -1.047" xyz="0.0215646 0.0 -0.051054"/>
    <axis xyz="0 0 1"/>
    <parent link="rightFoot"/>
    <child link="rightLegSixAxis_Frame"/>
  </joint>
  <gazebo reference="rightLegSixAxis_Offset">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="rightLegSixAxis_Offset">
    <sensor name="rightLegSixAxis" type="force_torque">
    </sensor>
  </gazebo>
  <joint name="multisense_head_root_joint" type="fixed">
    <origin rpy="-3.14159 0.130899694 0.0" xyz="0.183585961 0.0 0.075353826"/>
    <axis xyz="0 0 1"/>
    <parent link="upperNeckPitchLink"/>
    <child link="head"/>
  </joint>
  <gazebo reference="multisense_head_root_joint">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="rightTorsoIMU_Frame">
    <!-- Virtual Link -->
    <inertial>
      <mass value="1e-07"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22"/>
    </inertial>
  </link>
  <joint name="rightTorsoIMU_Offset" type="fixed">
    <origin rpy="-1.57 0.0 3.14" xyz="-0.047 -0.134 0.363"/>
    <axis xyz="0 0 1"/>
    <parent link="torso"/>
    <child link="rightTorsoIMU_Frame"/>
  </joint>
  <gazebo reference="rightTorsoIMU_Offset">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="rightTorsoIMU_Frame">
    <sensor name="rightTorsoIMU" type="imu">
      <always_on>true</always_on>
      <pose>-0.047 -0.134 0.363 -1.57 0.0 3.14 </pose>
      <imu>
        <noise>
          <type>gaussian</type>
          <rate>
            <mean>0</mean>
            <stddev>0.0002</stddev>
            <bias_mean>7.5e-06</bias_mean>
            <bias_stddev>8e-07</bias_stddev>
          </rate>
          <accel>
            <mean>0</mean>
            <stddev>0.017</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </accel>
        </noise>
      </imu>
    </sensor>
  </gazebo>
  <link name="leftTorsoIMU_Frame">
    <!-- Virtual Link -->
    <inertial>
      <mass value="1e-07"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22"/>
    </inertial>
  </link>
  <joint name="leftTorsoIMU_Offset" type="fixed">
    <origin rpy="1.57 0.0 3.14" xyz="-0.047 0.134 0.363"/>
    <axis xyz="0 0 1"/>
    <parent link="torso"/>
    <child link="leftTorsoIMU_Frame"/>
  </joint>
  <gazebo reference="leftTorsoIMU_Offset">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="leftTorsoIMU_Frame">
    <sensor name="leftTorsoIMU" type="imu">
      <always_on>true</always_on>
      <pose>-0.047 0.134 0.363 1.57 0.0 3.14 </pose>
      <imu>
        <noise>
          <type>gaussian</type>
          <rate>
            <mean>0</mean>
            <stddev>0.0002</stddev>
            <bias_mean>7.5e-06</bias_mean>
            <bias_stddev>8e-07</bias_stddev>
          </rate>
          <accel>
            <mean>0</mean>
            <stddev>0.017</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </accel>
        </noise>
      </imu>
    </sensor>
  </gazebo>
  <link name="rightHazardCamera_Frame">
    <!-- Virtual Link -->
    <inertial>
      <mass value="1e-07"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22"/>
    </inertial>
  </link>
  <gazebo reference="rightHazardCamera_Frame">
    <sensor name="rightHazardCamera" type="camera">
      <camera>
        <image>
          <width>1280</width>
          <height>1024</height>
          <format>R8G8B8</format>
        </image>
        <horizontal_fov>1.378</horizontal_fov>
        <clip>
          <near>0.1</near>
          <far>100</far>
        </clip>
      </camera>
      <update_rate>60</update_rate>
    </sensor>
  </gazebo>
  <joint name="rightHazardCamera_Offset" type="fixed">
    <origin rpy="1.57 0.0 1.57" xyz="0.0345 -0.0406 0.1135"/>
    <axis xyz="0 0 1"/>
    <parent link="torso"/>
    <child link="rightHazardCamera_Frame"/>
  </joint>
  <gazebo reference="rightHazardCamera_Offset">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="leftHazardCamera_Frame">
    <!-- Virtual Link -->
    <inertial>
      <mass value="1e-07"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22"/>
    </inertial>
  </link>
  <gazebo reference="leftHazardCamera_Frame">
    <sensor name="leftHazardCamera" type="camera">
      <camera>
        <image>
          <width>1280</width>
          <height>1024</height>
          <format>R8G8B8</format>
        </image>
        <horizontal_fov>1.378</horizontal_fov>
        <clip>
          <near>0.1</near>
          <far>100</far>
        </clip>
      </camera>
      <update_rate>60</update_rate>
    </sensor>
  </gazebo>
  <joint name="leftHazardCamera_Offset" type="fixed">
    <origin rpy="1.57 0.0 1.57" xyz="0.0345 0.0406 0.1135"/>
    <axis xyz="0 0 1"/>
    <parent link="torso"/>
    <child link="leftHazardCamera_Frame"/>
  </joint>
  <gazebo reference="leftHazardCamera_Offset">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="torsoYawTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="torsoYaw">
      </joint>
    <actuator name="torsoYaw">
      <node name="/trunk/j1"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="torsoPitchTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="torsoPitch">
      </joint>
    <actuator name="waistLeftActuator">
      <node name="/trunk/waist/left_actuator"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="torsoRollTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="torsoRoll">
      </joint>
    <actuator name="waistRightActuator">
      <node name="/trunk/waist/right_actuator"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="leftHipYawTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="leftHipYaw">
      </joint>
    <actuator name="leftHipYaw">
      <node name="/left_leg/j1"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="leftHipRollTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="leftHipRoll">
      </joint>
    <actuator name="leftHipRoll">
      <node name="/left_leg/j2"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="leftHipPitchTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="leftHipPitch">
      </joint>
    <actuator name="leftHipPitch">
      <node name="/left_leg/j3"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="leftKneePitchTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="leftKneePitch">
      </joint>
    <actuator name="leftKneePitch">
      <node name="/left_leg/j4"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="leftAnklePitchTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="leftAnklePitch">
      </joint>
    <actuator name="leftAnkleInsideActuator">
      <node name="/left_leg/ankle/left_actuator"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="leftAnkleRollTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="leftAnkleRoll">
      </joint>
    <actuator name="leftAnkleOutsideActuator">
      <node name="/left_leg/ankle/right_actuator"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="rightHipYawTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rightHipYaw">
      </joint>
    <actuator name="rightHipYaw">
      <node name="/right_leg/j1"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="rightHipRollTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rightHipRoll">
      </joint>
    <actuator name="rightHipRoll">
      <node name="/right_leg/j2"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="rightHipPitchTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rightHipPitch">
      </joint>
    <actuator name="rightHipPitch">
      <node name="/right_leg/j3"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="rightKneePitchTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rightKneePitch">
      </joint>
    <actuator name="rightKneePitch">
      <node name="/right_leg/j4"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="rightAnklePitchTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rightAnklePitch">
      </joint>
    <actuator name="rightAnkleInsideActuator">
      <node name="/right_leg/ankle/left_actuator"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="rightAnkleRollTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rightAnkleRoll">
      </joint>
    <actuator name="rightAnkleOutsideActuator">
      <node name="/right_leg/ankle/right_actuator"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="leftShoulderPitchTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="leftShoulderPitch">
      </joint>
    <actuator name="leftShoulderPitch">
      <node name="/left_arm/j1"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="leftShoulderRollTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="leftShoulderRoll">
      </joint>
    <actuator name="leftShoulderRoll">
      <node name="/left_arm/j2"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="leftShoulderYawTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="leftShoulderYaw">
      </joint>
    <actuator name="leftShoulderYaw">
      <node name="/left_arm/j3"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="leftElbowPitchTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="leftElbowPitch">
      </joint>
    <actuator name="leftElbowPitch">
      <node name="/left_arm/j4"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="leftForearmYawTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="leftForearmYaw">
      </joint>
    <actuator name="leftForearmYaw">
      <node name="/left_arm/j5"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="leftWristRollTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="leftWristRoll">
      </joint>
    <actuator name="leftWristTopActuator">
      <node name="/left_arm/wrist/top_actautor"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="leftWristPitchTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="leftWristPitch">
      </joint>
    <actuator name="leftWristBottomActuator">
      <node name="/left_arm/wrist/bottom_actuator"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="rightShoulderPitchTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rightShoulderPitch">
      </joint>
    <actuator name="rightShoulderPitch">
      <node name="/right_arm/j1"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="rightShoulderRollTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rightShoulderRoll">
      </joint>
    <actuator name="rightShoulderRoll">
      <node name="/right_arm/j2"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="rightShoulderYawTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rightShoulderYaw">
      </joint>
    <actuator name="rightShoulderYaw">
      <node name="/right_arm/j3"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="rightElbowPitchTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rightElbowPitch">
      </joint>
    <actuator name="rightElbowPitch">
      <node name="/right_arm/j4"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="rightForearmYawTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rightForearmYaw">
      </joint>
    <actuator name="rightForearmYaw">
      <node name="/right_arm/j5"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="rightWristRollTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rightWristRoll">
      </joint>
    <actuator name="rightWristTopActuator">
      <node name="/right_arm/wrist/top_actautor"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="rightWristPitchTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rightWristPitch">
      </joint>
    <actuator name="rightWristBottomActuator">
      <node name="/right_arm/wrist/bottom_actuator"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
  <transmission name="lowerNeckPitchTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="lowerNeckPitch">
      </joint>
    <actuator name="lowerNeckPitch">
      <node name="/neck/j1"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
<!--
  <transmission name="neckYawTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="neckYaw">
      </joint>
    <actuator name="neckYaw">
      <node name="/neck/j2"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
-->
<!--
  <transmission name="upperNeckPitchTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="upperNeckPitch">
      </joint>
    <actuator name="upperNeckPitch">
      <node name="/neck/j3"/>
      <mechanicalReduction>1</mechanicalReduction>
      <api name="TurboDriverDRC_v4"/>
    </actuator>
  </transmission>
-->
  <!-- Head Link Simple Collision Meshes -->
  <link name="head">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.075493 3.3383E-05 0.02774"/>
      <mass value="1.41984"/>
      <inertia ixx="0.0039688" ixy="-1.5797E-06" ixz="-0.00089293" iyy="0.0041178" iyz="-6.8415E-07" izz="0.0035243"/>
    </inertial>
    <!--     <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/multisense/head.dae" />
      </geometry>
      <material name="">
        <color rgba="0.9098 0.44314 0.031373 1" />
      </material>
    </visual> -->
    <collision>
      <origin rpy="0 0 0" xyz="-0.0503 0 -0.00195"/>
      <geometry>
        <box size="0.1311 0.12 0.0591"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.093 0 0.0868"/>
      <geometry>
        <box size="0.0468 0.12 0.1184"/>
      </geometry>
    </collision>
  </link>
  <link name="hokuyo_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.032428 0.0004084 -0.0041835"/>
      <mass value="0.057654"/>
      <inertia ixx="3.7174E-05" ixy="4.9927E-08" ixz="1.1015E-05" iyy="4.2412E-05" iyz="-9.8165E-09" izz="4.167E-05"/>
    </inertial>
    <visual>
      <!--origin xyz="0.065774 -0.001163 -0.08809" rpy="0 0 0" /-->
      <!--origin xyz="0.045 -0.001163 -0.08809" rpy="-0.314 0 0" /-->
      <origin rpy="-0.314 0 0" xyz="0.045 -0.0261018277 -0.08342369"/>
      <geometry>
        <mesh filename="package://valkyrie/urdf/model/meshes/multisense/head_camera.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.72941 0.35686 0.023529 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.01885 0 -0.02119"/>
      <geometry>
        <box size="0.08 0.06 0.04238"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.03 0 0.0235"/>
      <geometry>
        <cylinder length="0.047" radius="0.024425"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="head">
    <mu1>0.9</mu1>
    <mu2>0.9</mu2>
  </gazebo>
  <gazebo reference="hokuyo_link">
    <mu1>0.9</mu1>
    <mu2>0.9</mu2>
  </gazebo>
  <joint name="hokuyo_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.0446 0 0.0880"/>
    <parent link="head"/>
    <child link="hokuyo_link"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0.01" friction="0"/>
  </joint>
  <gazebo reference="hokuyo_joint">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <!-- Hokuyo Laser -->
  <joint name="head_hokuyo_joint" type="fixed">
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0.03 0 0.015"/>
    <parent link="hokuyo_link"/>
    <child link="head_hokuyo_frame"/>
  </joint>
  <link name="head_hokuyo_frame">
    <inertial>
      <mass value="1e-5"/>
      <!-- collocate with parent link and remove mass from it -->
      <origin rpy="0 0 0" xyz="0.042428 0.0004084 0.0108165"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
    </inertial>
  </link>
  <gazebo reference="head_hokuyo_frame">
    <sensor name="head_hokuyo_sensor" type="gpu_ray">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>40</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>1081</samples>
            <resolution>1</resolution>
            <min_angle>-2.356194</min_angle>
            <max_angle>2.356194</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.10</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <!-- Noise parameters based on published spec for Hokuyo laser
               achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
               stddev of 0.01m will put 99.7% of samples within 0.03m of the true
               reading. -->
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
    </sensor>
  </gazebo>
  <!-- Stereo Camera -->
  <joint name="left_camera_frame_joint" type="fixed">
    <!-- optical frame collocated with tilting DOF -->
    <origin xyz="0.0 0.035 -0.002"/>
    <parent link="head"/>
    <child link="left_camera_frame"/>
  </joint>
  <link name="left_camera_frame">
    <inertial>
      <mass value="1e-5"/>
      <!-- collocate with parent link and remove mass from it -->
      <origin xyz="-0.075493 0.035033383 0.02574"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
    </inertial>
  </link>
  <joint name="left_camera_optical_frame_joint" type="fixed">
    <origin rpy="-1.5708 0.0 -1.5708" xyz="0 0 0"/>
    <parent link="left_camera_frame"/>
    <child link="left_camera_optical_frame"/>
  </joint>
  <link name="left_camera_optical_frame"/>
  <gazebo reference="left_camera_frame">
    <sensor name="stereo_camera" type="multicamera">
      <!-- see MultiSenseSLPlugin.h for available modes -->
      <update_rate>10.0</update_rate>
      <camera name="left">
        <!-- Spec sheet says 80deg X 45deg @ 1024x544pix.  Based on feedback
             from teams, we're instead doing 80deg X 80deg @ 800x800pix. -->
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>1024</width>
          <height>544</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <!-- Noise is sampled independently per pixel on each frame.
               That pixel's noise value is added to each of its color
               channels, which at that point lie in the range [0,1].
               The stddev value of 0.007 is based on experimental data
               from a camera in a Sandia hand pointed at a static scene
               in a couple of different lighting conditions.  -->
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise>
      </camera>
      <camera name="right">
        <pose>0 -0.07 0 0 0 0</pose>
        <!-- Spec sheet says 80deg X 45deg @ 1024x544pix. -->
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>1024</width>
          <height>544</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <!-- Noise is sampled independently per pixel on each frame.
               That pixel's noise value is added to each of its color
               channels, which at that point lie in the range [0,1].
               The stddev value of 0.007 is based on experimental data
               from a camera in a Sandia hand pointed at a static scene
               in a couple of different lighting conditions.  -->
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise>
      </camera>
    </sensor>
  </gazebo>
  <joint name="right_camera_frame_joint" type="fixed">
    <origin xyz="0.0 -0.035 -0.002"/>
    <parent link="head"/>
    <child link="right_camera_frame"/>
  </joint>
  <link name="right_camera_frame">
    <inertial>
      <mass value="1e-5"/>
      <!-- collocate with parent link and remove mass from it -->
      <origin xyz="-0.075493 -0.034966617 0.02574"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
    </inertial>
  </link>
  <joint name="right_camera_optical_frame_joint" type="fixed">
    <origin rpy="-1.5708 0.0 -1.5708" xyz="0 0 0"/>
    <parent link="right_camera_frame"/>
    <child link="right_camera_optical_frame"/>
  </joint>
  <link name="right_camera_optical_frame"/>
  <joint name="center_top_led_frame_joint" type="fixed">
    <origin xyz="0.01125 0.0 0.0105"/>
    <parent link="head"/>
    <child link="center_top_led_frame"/>
  </joint>
  <link name="center_top_led_frame">
    <inertial>
      <mass value="1e-5"/>
      <!-- collocate with parent link and remove mass from it -->
      <origin rpy="0 0 0" xyz="-0.064243 0.000033383 0.03824"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
    </inertial>
  </link>
  <joint name="center_bottom_led_frame_joint" type="fixed">
    <origin xyz="0.01125 0.0 -0.0155"/>
    <parent link="head"/>
    <child link="center_bottom_led_frame"/>
  </joint>
  <link name="center_bottom_led_frame">
    <inertial>
      <mass value="1e-5"/>
      <!-- collocate with parent link and remove mass from it -->
      <origin rpy="0 0 0" xyz="-0.064243 0.000033383 0.01224"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
    </inertial>
  </link>
  <joint name="left_led_frame_joint" type="fixed">
    <origin rpy="0 -0.15 0.53" xyz="-0.01443 0.07452 0.050346"/>
    <parent link="head"/>
    <child link="left_led_frame"/>
  </joint>
  <link name="left_led_frame">
    <inertial>
      <mass value="1e-5"/>
      <!-- collocate with parent link and remove mass from it -->
      <origin rpy="0 -0.15 0.53" xyz="-0.089923 0.074553383 0.078086"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
    </inertial>
  </link>
  <joint name="right_led_frame_joint" type="fixed">
    <origin rpy="0 -0.15 -0.53" xyz="-0.01443 -0.07452 0.050346"/>
    <parent link="head"/>
    <child link="right_led_frame"/>
  </joint>
  <link name="right_led_frame">
    <inertial>
      <mass value="1e-5"/>
      <!-- collocate with parent link and remove mass from it -->
      <origin rpy="0 -0.15 -0.53" xyz="-0.089923 -0.074486617 0.07908"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
    </inertial>
  </link>
  <!-- imu link -->
  <link name="head_imu_link">
    <inertial>
      <mass value="1e-5"/>
      <!-- collocate with parent link and remove mass from it -->
      <origin rpy="0 0 0" xyz="-0.122993 0.035033383 0.02774"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </visual>
  </link>
  <joint name="head_imu_joint" type="fixed">
    <parent link="head"/>
    <child link="head_imu_link"/>
    <!-- putting it at the same z-level as the stereo -->
    <origin rpy="0 0 0" xyz="-0.0475 0.035 0.0"/>
  </joint>
  <gazebo reference="head_imu_link">
    <!-- this is expected to be reparented to head with appropriate offset
         when head_imu_link is reduced by fixed joint reduction -->
    <!-- todo: this is working with gazebo 1.4, need to write a unit test -->
    <sensor name="head_imu_sensor" type="imu">
      <always_on>1</always_on>
      <update_rate>1000.0</update_rate>
      <imu>
        <noise>
          <type>gaussian</type>
          <!-- Noise parameters from Boston Dynamics
               (http://gazebosim.org/wiki/Sensor_noise):
                 rates (rad/s): mean=0, stddev=2e-4
                 accels (m/s/s): mean=0, stddev=1.7e-2
                 rate bias (rad/s): 5e-6 - 1e-5
                 accel bias (m/s/s): 1e-1
               Experimentally, simulation provide rates with noise of
               about 1e-3 rad/s and accels with noise of about 1e-1 m/s/s.
               So we don't expect to see the noise unless number of inner iterations
               are increased.

               We will add bias.  In this model, bias is sampled once for rates
               and once for accels at startup; the sign (negative or positive)
               of each bias is then switched with equal probability.  Thereafter,
               the biases are fixed additive offsets.  We choose
               bias means and stddevs to produce biases close to the provided
               data. -->
          <rate>
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
            <bias_mean>0.0000075</bias_mean>
            <bias_stddev>0.0000008</bias_stddev>
          </rate>
          <accel>
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </accel>
        </noise>
      </imu>
    </sensor>
  </gazebo>
  <!-- drake feet mods-->
  <frame link="leftFoot" name="l_foot_sole" rpy="0 0 0" xyz="0.067  0 -0.09"/>
  <frame link="rightFoot" name="r_foot_sole" rpy="0 0 0" xyz="0.067 0 -0.09"/>
  <frame link="leftFoot" name="l_foot_toe" rpy="0 0 0" xyz="0.172  0 -0.09"/>
  <frame link="rightFoot" name="r_foot_toe" rpy="0 0 0" xyz="0.172 0 -0.09"/>
  <!-- end drake feet mods-->
  <!-- drake left hand frames-->
  <link name="l_hand_force_torque">
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </visual>
  </link>
  <joint name="l_hand_force_torque_joint" type="fixed">
    <origin rpy="-1.57079632679 0 1.57079632679" xyz="0 0 0"/>
    <parent link="leftPalm"/>
    <child link="l_hand_force_torque"/>
  </joint>
  <link name="left_palm">
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </visual>
  </link>
  <joint name="left_valkyrie_hand_joint" type="fixed">
    <origin rpy="1.57079632679 1.57079632679 0" xyz="0.08 0 0"/>
    <parent link="l_hand_force_torque"/>
    <child link="left_palm"/>
  </joint>
  <link name="l_hand_face">
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
    </inertial>
  </link>
  <joint name="l_hand_face_joint" type="fixed">
    <origin rpy="3.14159265359 0 1.57079632679" xyz="0.07 0.0 -0.08"/>
    <parent link="l_hand_force_torque"/>
    <child link="l_hand_face"/>
  </joint>
  <!-- end drake left hand frames-->
  <!-- drake right hand frames-->
  <link name="r_hand_force_torque">
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </visual>
  </link>
  <joint name="r_hand_force_torque_joint" type="fixed">
    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
    <parent link="rightPalm"/>
    <child link="r_hand_force_torque"/>
  </joint>
  <link name="right_palm">
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </visual>
  </link>
  <joint name="right_valkyrie_hand_joint" type="fixed">
    <origin rpy="0 -1.57079632679 -1.57079632679" xyz="0.08 0 0"/>
    <parent link="r_hand_force_torque"/>
    <child link="right_palm"/>
  </joint>
  <link name="r_hand_face">
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
    </inertial>
  </link>
  <joint name="r_hand_face_joint" type="fixed">
    <origin rpy="0 0 -1.57079632679" xyz="0.07 0 0.08"/>
    <parent link="r_hand_force_torque"/>
    <child link="r_hand_face"/>
  </joint>
  <!-- end drake right hand frames-->
  <!-- drake collision free groups-->
  <collision_filter_group name="feet">
    <member link="leftFoot"/>
    <member link="rightFoot"/>
    <ignored_collision_filter_group collision_filter_group="feet"/>
  </collision_filter_group>
  <collision_filter_group name="core">
    <member link="torso"/>
    <member link="torsoYawLink"/>
    <member link="torsoPitchLink"/>
    <member link="pelvis"/>
    <member link="lowerNeckPitchLink"/>
    <member link="neckYawLink"/>
    <member link="upperNeckPitchLink"/>
    <member link="head"/>
    <ignored_collision_filter_group collision_filter_group="core"/>
  </collision_filter_group>
  <collision_filter_group name="ignore_core">
    <member link="rightShoulderRollLink"/>
    <member link="leftShoulderRollLink"/>
    <member link="rightShoulderPitchLink"/>
    <member link="leftShoulderPitchLink"/>
    <ignored_collision_filter_group collision_filter_group="core"/>
  </collision_filter_group>
  <collision_filter_group name="r_uleg">
    <member link="rightHipYawLink"/>
    <member link="rightHipRollLink"/>
    <member link="rightHipPitchLink"/>
    <ignored_collision_filter_group collision_filter_group="core"/>
    <ignored_collision_filter_group collision_filter_group="r_uleg"/>
    <ignored_collision_filter_group collision_filter_group="l_uleg"/>
  </collision_filter_group>
  <collision_filter_group name="l_uleg">
    <member link="leftHipYawLink"/>
    <member link="leftHipRollLink"/>
    <member link="leftHipPitchLink"/>
    <ignored_collision_filter_group collision_filter_group="core"/>
    <ignored_collision_filter_group collision_filter_group="r_uleg"/>
    <ignored_collision_filter_group collision_filter_group="l_uleg"/>
  </collision_filter_group>
  <collision_filter_group name="r_leg">
    <member link="rightKneePitchLink"/>
    <member link="rightAnklePitchLink"/>
    <member link="rightFoot"/>
    <ignored_collision_filter_group collision_filter_group="r_leg"/>
    <ignored_collision_filter_group collision_filter_group="r_uleg"/>
  </collision_filter_group>
  <collision_filter_group name="l_leg">
    <member link="leftKneePitchLink"/>
    <member link="leftAnklePitchLink"/>
    <member link="leftFoot"/>
    <ignored_collision_filter_group collision_filter_group="l_leg"/>
    <ignored_collision_filter_group collision_filter_group="l_uleg"/>
  </collision_filter_group>
  <collision_filter_group name="r_arm">
    <member link="rightShoulderPitchLink"/>
    <member link="rightShoulderRollLink"/>
    <member link="rightShoulderYawLink"/>
    <member link="rightElbowPitchLink"/>
    <member link="rightForearmLink"/>
    <member link="rightWristRollLink"/>
    <member link="rightPalm"/>
    <ignored_collision_filter_group collision_filter_group="r_arm"/>
  </collision_filter_group>
  <collision_filter_group name="l_arm">
    <member link="leftShoulderPitchLink"/>
    <member link="leftShoulderRollLink"/>
    <member link="leftShoulderYawLink"/>
    <member link="leftElbowPitchLink"/>
    <member link="leftForearmLink"/>
    <member link="leftWristRollLink"/>
    <member link="leftPalm"/>
    <ignored_collision_filter_group collision_filter_group="l_arm"/>
  </collision_filter_group>
  <!-- end drake collision free groups-->
</robot>
